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<div class="title">Hyperplane.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright (C) 2008 Benoit Jacob &lt;jacob.benoit.1@gmail.com&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef EIGEN_HYPERPLANE_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define EIGEN_HYPERPLANE_H</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> AmbientDim_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;{</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_==<a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> ? <a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> : AmbientDim_+1)</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    AmbientDimAtCompileTime = AmbientDim_,</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    Options = Options_</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  };</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a> RealScalar;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">   46</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a> <a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a>; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,AmbientDimAtCompileTime,1&gt;</a> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix</a>&lt;Scalar,<a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a>(AmbientDimAtCompileTime)==<a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                        ? <a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                        : <a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a>(AmbientDimAtCompileTime)+1,1,Options&gt; <a class="code" href="classEigen_1_1Matrix.html">Coefficients</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Block.html">Block&lt;Coefficients,AmbientDimAtCompileTime,1&gt;</a> <a class="code" href="classEigen_1_1Block.html">NormalReturnType</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Block.html">Block&lt;const Coefficients,AmbientDimAtCompileTime,1&gt;</a> <a class="code" href="classEigen_1_1Block.html">ConstNormalReturnType</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">   55</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">Hyperplane</a>() {}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">Hyperplane</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane&lt;Scalar,AmbientDimAtCompileTime,OtherOptions&gt;</a>&amp; other)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;   : m_coeffs(other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>())</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#aab64d26f6da689d0ce915f6bb4724de5">   64</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Hyperplane.html#aab64d26f6da689d0ce915f6bb4724de5">Hyperplane</a>(<a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a> _dim) : m_coeffs(_dim+1) {}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a2d290a6e8e38f6da6287a7b9777ce3c7">   69</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html#a2d290a6e8e38f6da6287a7b9777ce3c7">Hyperplane</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; n, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; e)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    : m_coeffs(n.size()+1)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = n;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() = -n.dot(e);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a7701d9cbe6ec552430fac5a34d81a53b">   80</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html#a7701d9cbe6ec552430fac5a34d81a53b">Hyperplane</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; n, <span class="keyword">const</span> Scalar&amp; d)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    : m_coeffs(n.size()+1)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = n;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() = d;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a0043925c28a90328d3fb9edf27380824">   90</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a> <a class="code" href="classEigen_1_1Hyperplane.html#a0043925c28a90328d3fb9edf27380824">Through</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p1)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a> result(p0.size());</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = (p1 - p0).unitOrthogonal();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    result.<a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() = -p0.dot(result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a6e8eb0508c38957fd946bd4053e8c555">  101</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a> <a class="code" href="classEigen_1_1Hyperplane.html#a6e8eb0508c38957fd946bd4053e8c555">Through</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p2)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">VectorType</a>, 3)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a> result(p0.size());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> v0(p2 - p0), v1(p1 - p0);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = v0.cross(v1);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    RealScalar norm = result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>().norm();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span>(norm &lt;= v0.norm() * v1.norm() * <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;RealScalar&gt;::epsilon</a>())</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,2,3&gt;</a> m; m &lt;&lt; v0.<a class="code" href="classEigen_1_1DenseBase.html#a43cbcd866a0737eb56642c2e992f0afd">transpose</a>(), v1.transpose();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <a class="code" href="classEigen_1_1JacobiSVD.html">JacobiSVD&lt;Matrix&lt;Scalar,2,3&gt;</a>, <a class="code" href="group__enums.html#ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930">ComputeFullV</a>&gt; svd(m);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().col(2);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() /= norm;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    result.<a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() = -p0.dot(result.<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">// FIXME to be consistent with the rest this could be implemented as a static Through function ??</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#abee7a8320d2941a7c887d9e91a67688c">  125</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Hyperplane.html#abee7a8320d2941a7c887d9e91a67688c">Hyperplane</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine&lt;Scalar, AmbientDimAtCompileTime&gt;</a>&amp; parametrized)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = parametrized.direction().unitOrthogonal();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() = -parametrized.origin().dot(<a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>());</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  EIGEN_DEVICE_FUNC ~<a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a>() {}</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">  134</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a> <a class="code" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">dim</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> AmbientDimAtCompileTime==<a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> ? m_coeffs.size()-1 : <a class="code" href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Index</a>(AmbientDimAtCompileTime); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a845654ad0f81efcbbb39692fd35e2758">  137</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Hyperplane.html#a845654ad0f81efcbbb39692fd35e2758">normalize</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    m_coeffs /= <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>().norm();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a1f78ff8b2171e90134911cce845c5ab3">  145</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar <a class="code" href="classEigen_1_1Hyperplane.html#a1f78ff8b2171e90134911cce845c5ab3">signedDistance</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>().dot(p) + <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>(); }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a6d7e330896982be88d4e6cf8e9365687">  150</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar <a class="code" href="classEigen_1_1Hyperplane.html#a6d7e330896982be88d4e6cf8e9365687">absDistance</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> numext::abs(<a class="code" href="classEigen_1_1Hyperplane.html#a1f78ff8b2171e90134911cce845c5ab3">signedDistance</a>(p)); }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#ac058391470eb7c50300ce71fafbc5f27">  154</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> <a class="code" href="classEigen_1_1Hyperplane.html#ac058391470eb7c50300ce71fafbc5f27">projection</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>&amp; p)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p - <a class="code" href="classEigen_1_1Hyperplane.html#a1f78ff8b2171e90134911cce845c5ab3">signedDistance</a>(p) * <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>(); }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">  159</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">ConstNormalReturnType</a> <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Block.html">ConstNormalReturnType</a>(m_coeffs,0,0,<a class="code" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">dim</a>(),1); }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a388a71c684e240bc68a340c82d8ae6de">  164</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">NormalReturnType</a> <a class="code" href="classEigen_1_1Hyperplane.html#a388a71c684e240bc68a340c82d8ae6de">normal</a>() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Block.html">NormalReturnType</a>(m_coeffs,0,0,<a class="code" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">dim</a>(),1); }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">  169</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Scalar&amp; <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_coeffs.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(<a class="code" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">dim</a>()); }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a3bd270148130444d617ca9b6db314a4a">  173</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar&amp; <a class="code" href="classEigen_1_1Hyperplane.html#a3bd270148130444d617ca9b6db314a4a">offset</a>() { <span class="keywordflow">return</span> m_coeffs(<a class="code" href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">dim</a>()); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">  178</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">Coefficients</a>&amp; <a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_coeffs; }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a7c317f5d518d46c0dc226b99d771cef1">  183</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">Coefficients</a>&amp; <a class="code" href="classEigen_1_1Hyperplane.html#a7c317f5d518d46c0dc226b99d771cef1">coeffs</a>() { <span class="keywordflow">return</span> m_coeffs; }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a0f6648846f4752864a0354b5aca07ddd">  191</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> <a class="code" href="classEigen_1_1Hyperplane.html#a0f6648846f4752864a0354b5aca07ddd">intersection</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">VectorType</a>, 2)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    Scalar det = <a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0) * other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1) - <a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1) * other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">// since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// whether the two lines are approximately parallel.</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">if</span>(internal::isMuchSmallerThan(det, Scalar(1)))</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    {   <span class="comment">// special case where the two lines are approximately parallel. Pick any point on the first line.</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">if</span>(numext::abs(<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(1))&gt;numext::abs(<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(0)))</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>(<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(1), -<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(2)/<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(1)-<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(0));</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>(-<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(2)/<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(0)-<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(1), <a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(0));</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    {   <span class="comment">// general case</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        Scalar invdet = Scalar(1) / det;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>(invdet*(<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(1)*other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(2)-other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1)*<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(2)),</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                          invdet*(other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0)*<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(2)-<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().coeff(0)*other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(2)));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> XprType&gt;</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#afb4d86eb3d2bb8311681067df71499de">  219</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a>&amp; <a class="code" href="classEigen_1_1Hyperplane.html#afb4d86eb3d2bb8311681067df71499de">transform</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;XprType&gt;</a>&amp; mat, <a class="code" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a> traits = <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (traits==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = mat.<a class="code" href="classEigen_1_1MatrixBase.html#a7712eb69e8ea3c8f7b8da1c44dbdeebf">inverse</a>().transpose() * <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>();</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      m_coeffs /= <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>().norm();</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (traits==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>() = mat * <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      eigen_assert(0 &amp;&amp; <span class="stringliteral">&quot;invalid traits value in Hyperplane::transform()&quot;</span>);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> TrOptions&gt;</div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a177b9d1d945807496332605640e07d7a">  243</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane</a>&amp; <a class="code" href="classEigen_1_1Hyperplane.html#a177b9d1d945807496332605640e07d7a">transform</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,AmbientDimAtCompileTime,Affine,TrOptions&gt;</a>&amp; t,</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                <a class="code" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a> traits = <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#afb4d86eb3d2bb8311681067df71499de">transform</a>(t.<a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>(), traits);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <a class="code" href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">offset</a>() -= <a class="code" href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">normal</a>().dot(t.<a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>());</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type&lt;<a class="code" href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">Hyperplane</a>,</div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a2ade2168d4f6c4c026598693997641b9">  258</a></span>&#160;           <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane&lt;NewScalarType,AmbientDimAtCompileTime,Options&gt;</a> &gt;::type <a class="code" href="classEigen_1_1Hyperplane.html#a2ade2168d4f6c4c026598693997641b9">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">typename</span> internal::cast_return_type&lt;<a class="code" href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">Hyperplane</a>,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                    <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane&lt;NewScalarType,AmbientDimAtCompileTime,Options&gt;</a> &gt;::type(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherScalarType,<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a794aa21077ff54212cca44f02af98d15">  266</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Hyperplane.html#a794aa21077ff54212cca44f02af98d15">Hyperplane</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane&lt;OtherScalarType,AmbientDimAtCompileTime,OtherOptions&gt;</a>&amp; other)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  { m_coeffs = other.<a class="code" href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">coeffs</a>().template cast&lt;Scalar&gt;(); }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classEigen_1_1Hyperplane.html#a79243e1b4082ac38caecb828dc6bfacf">  274</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1Hyperplane.html#a79243e1b4082ac38caecb828dc6bfacf">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane&lt;Scalar,AmbientDimAtCompileTime,OtherOptions&gt;</a>&amp; other, <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a>&amp; prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> m_coeffs.isApprox(other.m_coeffs, prec); }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  Coefficients m_coeffs;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;};</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_HYPERPLANE_H</span></div>
<div class="ttc" id="aclassEigen_1_1Block_html"><div class="ttname"><a href="classEigen_1_1Block.html">Eigen::Block</a></div><div class="ttdoc">Expression of a fixed-size or dynamic-size block.</div><div class="ttdef"><b>Definition:</b> Block.h:107</div></div>
<div class="ttc" id="aclassEigen_1_1DenseBase_html_a43cbcd866a0737eb56642c2e992f0afd"><div class="ttname"><a href="classEigen_1_1DenseBase.html#a43cbcd866a0737eb56642c2e992f0afd">Eigen::DenseBase::transpose</a></div><div class="ttdeci">TransposeReturnType transpose()</div><div class="ttdef"><b>Definition:</b> Transpose.h:184</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html"><div class="ttname"><a href="classEigen_1_1Hyperplane.html">Eigen::Hyperplane</a></div><div class="ttdoc">A hyperplane.</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:37</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a0043925c28a90328d3fb9edf27380824"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a0043925c28a90328d3fb9edf27380824">Eigen::Hyperplane::Through</a></div><div class="ttdeci">static Hyperplane Through(const VectorType &amp;p0, const VectorType &amp;p1)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:90</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a0f6648846f4752864a0354b5aca07ddd"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a0f6648846f4752864a0354b5aca07ddd">Eigen::Hyperplane::intersection</a></div><div class="ttdeci">VectorType intersection(const Hyperplane &amp;other) const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:191</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a14ae73ebb82904dcf08c2616a9c6e483"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a14ae73ebb82904dcf08c2616a9c6e483">Eigen::Hyperplane::normal</a></div><div class="ttdeci">ConstNormalReturnType normal() const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:159</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a177b9d1d945807496332605640e07d7a"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a177b9d1d945807496332605640e07d7a">Eigen::Hyperplane::transform</a></div><div class="ttdeci">Hyperplane &amp; transform(const Transform&lt; Scalar, AmbientDimAtCompileTime, Affine, TrOptions &gt; &amp;t, TransformTraits traits=Affine)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:243</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a1f78ff8b2171e90134911cce845c5ab3"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a1f78ff8b2171e90134911cce845c5ab3">Eigen::Hyperplane::signedDistance</a></div><div class="ttdeci">Scalar signedDistance(const VectorType &amp;p) const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:145</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a2ade2168d4f6c4c026598693997641b9"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a2ade2168d4f6c4c026598693997641b9">Eigen::Hyperplane::cast</a></div><div class="ttdeci">internal::cast_return_type&lt; Hyperplane, Hyperplane&lt; NewScalarType, AmbientDimAtCompileTime, Options &gt; &gt;::type cast() const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:258</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a2d290a6e8e38f6da6287a7b9777ce3c7"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a2d290a6e8e38f6da6287a7b9777ce3c7">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane(const VectorType &amp;n, const VectorType &amp;e)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:69</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a388a71c684e240bc68a340c82d8ae6de"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a388a71c684e240bc68a340c82d8ae6de">Eigen::Hyperplane::normal</a></div><div class="ttdeci">NormalReturnType normal()</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:164</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a3bd270148130444d617ca9b6db314a4a"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a3bd270148130444d617ca9b6db314a4a">Eigen::Hyperplane::offset</a></div><div class="ttdeci">Scalar &amp; offset()</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:173</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a48900ab285860922b0a416270b05ae41"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a48900ab285860922b0a416270b05ae41">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane()</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:55</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a60a39dae40a9b9f76a6993762ba18f45"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a60a39dae40a9b9f76a6993762ba18f45">Eigen::Hyperplane::offset</a></div><div class="ttdeci">const Scalar &amp; offset() const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:169</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a6d630aa4c500289329e58331b37d4719"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a6d630aa4c500289329e58331b37d4719">Eigen::Hyperplane::dim</a></div><div class="ttdeci">Index dim() const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:134</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a6d7e330896982be88d4e6cf8e9365687"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a6d7e330896982be88d4e6cf8e9365687">Eigen::Hyperplane::absDistance</a></div><div class="ttdeci">Scalar absDistance(const VectorType &amp;p) const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:150</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a6e8eb0508c38957fd946bd4053e8c555"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a6e8eb0508c38957fd946bd4053e8c555">Eigen::Hyperplane::Through</a></div><div class="ttdeci">static Hyperplane Through(const VectorType &amp;p0, const VectorType &amp;p1, const VectorType &amp;p2)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:101</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a7701d9cbe6ec552430fac5a34d81a53b"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a7701d9cbe6ec552430fac5a34d81a53b">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane(const VectorType &amp;n, const Scalar &amp;d)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:80</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a79243e1b4082ac38caecb828dc6bfacf"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a79243e1b4082ac38caecb828dc6bfacf">Eigen::Hyperplane::isApprox</a></div><div class="ttdeci">bool isApprox(const Hyperplane&lt; Scalar, AmbientDimAtCompileTime, OtherOptions &gt; &amp;other, const typename NumTraits&lt; Scalar &gt;::Real &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:274</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a794aa21077ff54212cca44f02af98d15"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a794aa21077ff54212cca44f02af98d15">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane(const Hyperplane&lt; OtherScalarType, AmbientDimAtCompileTime, OtherOptions &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:266</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a7c317f5d518d46c0dc226b99d771cef1"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a7c317f5d518d46c0dc226b99d771cef1">Eigen::Hyperplane::coeffs</a></div><div class="ttdeci">Coefficients &amp; coeffs()</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:183</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a845654ad0f81efcbbb39692fd35e2758"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a845654ad0f81efcbbb39692fd35e2758">Eigen::Hyperplane::normalize</a></div><div class="ttdeci">void normalize(void)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:137</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_a8cf1e35c912d3371cc63e0f3db622f20"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a8cf1e35c912d3371cc63e0f3db622f20">Eigen::Hyperplane::coeffs</a></div><div class="ttdeci">const Coefficients &amp; coeffs() const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:178</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_aab64d26f6da689d0ce915f6bb4724de5"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#aab64d26f6da689d0ce915f6bb4724de5">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane(Index _dim)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:64</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_abee7a8320d2941a7c887d9e91a67688c"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#abee7a8320d2941a7c887d9e91a67688c">Eigen::Hyperplane::Hyperplane</a></div><div class="ttdeci">Hyperplane(const ParametrizedLine&lt; Scalar, AmbientDimAtCompileTime &gt; &amp;parametrized)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:125</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_ac058391470eb7c50300ce71fafbc5f27"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#ac058391470eb7c50300ce71fafbc5f27">Eigen::Hyperplane::projection</a></div><div class="ttdeci">VectorType projection(const VectorType &amp;p) const</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:154</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_ae90f55496bc8cd7d4612ed1d5878e5ec"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#ae90f55496bc8cd7d4612ed1d5878e5ec">Eigen::Hyperplane::Index</a></div><div class="ttdeci">Eigen::Index Index</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:46</div></div>
<div class="ttc" id="aclassEigen_1_1Hyperplane_html_afb4d86eb3d2bb8311681067df71499de"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#afb4d86eb3d2bb8311681067df71499de">Eigen::Hyperplane::transform</a></div><div class="ttdeci">Hyperplane &amp; transform(const MatrixBase&lt; XprType &gt; &amp;mat, TransformTraits traits=Affine)</div><div class="ttdef"><b>Definition:</b> Hyperplane.h:219</div></div>
<div class="ttc" id="aclassEigen_1_1JacobiSVD_html"><div class="ttname"><a href="classEigen_1_1JacobiSVD.html">Eigen::JacobiSVD</a></div><div class="ttdoc">Two-sided Jacobi SVD decomposition of a rectangular matrix.</div><div class="ttdef"><b>Definition:</b> JacobiSVD.h:514</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition:</b> MatrixBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a7712eb69e8ea3c8f7b8da1c44dbdeebf"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a7712eb69e8ea3c8f7b8da1c44dbdeebf">Eigen::MatrixBase::inverse</a></div><div class="ttdeci">const Inverse&lt; Derived &gt; inverse() const</div><div class="ttdef"><b>Definition:</b> InverseImpl.h:350</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix&lt; Scalar, AmbientDimAtCompileTime, 1 &gt;</a></div></div>
<div class="ttc" id="aclassEigen_1_1ParametrizedLine_html"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html">Eigen::ParametrizedLine</a></div><div class="ttdoc">A parametrized line.</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:33</div></div>
<div class="ttc" id="aclassEigen_1_1PlainObjectBase_html_a954cd075bcd7babb429e3e4b9a418651"><div class="ttname"><a href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">Eigen::PlainObjectBase::coeff</a></div><div class="ttdeci">const Scalar &amp; coeff(Index rowId, Index colId) const</div><div class="ttdef"><b>Definition:</b> PlainObjectBase.h:164</div></div>
<div class="ttc" id="aclassEigen_1_1SVDBase_html_a245a453b5e7347f737295c23133238c4"><div class="ttname"><a href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">Eigen::SVDBase::matrixV</a></div><div class="ttdeci">const MatrixVType &amp; matrixV() const</div><div class="ttdef"><b>Definition:</b> SVDBase.h:191</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html"><div class="ttname"><a href="classEigen_1_1Transform.html">Eigen::Transform</a></div><div class="ttdoc">Represents an homogeneous transformation in a N dimensional space.</div><div class="ttdef"><b>Definition:</b> Transform.h:207</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a10681d9bbc6a7a81a9111b1f9e186948"><div class="ttname"><a href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">Eigen::Transform::linear</a></div><div class="ttdeci">ConstLinearPart linear() const</div><div class="ttdef"><b>Definition:</b> Transform.h:398</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a539fc3e91b20a43613bfefb8a4fb8a0e"><div class="ttname"><a href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">Eigen::Transform::translation</a></div><div class="ttdeci">ConstTranslationPart translation() const</div><div class="ttdef"><b>Definition:</b> Transform.h:408</div></div>
<div class="ttc" id="agroup__enums_html_gaee59a86102f150923b0cac6d4ff05107"><div class="ttname"><a href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">Eigen::TransformTraits</a></div><div class="ttdeci">TransformTraits</div><div class="ttdef"><b>Definition:</b> Constants.h:457</div></div>
<div class="ttc" id="agroup__enums_html_ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930"><div class="ttname"><a href="group__enums.html#ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930">Eigen::ComputeFullV</a></div><div class="ttdeci">@ ComputeFullV</div><div class="ttdef"><b>Definition:</b> Constants.h:399</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Eigen::Affine</a></div><div class="ttdeci">@ Affine</div><div class="ttdef"><b>Definition:</b> Constants.h:462</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Eigen::Isometry</a></div><div class="ttdeci">@ Isometry</div><div class="ttdef"><b>Definition:</b> Constants.h:459</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="anamespaceEigen_html_a62e77e0933482dafde8fe197d9a2cfde"><div class="ttname"><a href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a></div><div class="ttdeci">EIGEN_DEFAULT_DENSE_INDEX_TYPE Index</div><div class="ttdoc">The Index type as used for the API.</div><div class="ttdef"><b>Definition:</b> Meta.h:59</div></div>
<div class="ttc" id="anamespaceEigen_html_ad81fa7195215a0ce30017dfac309f0b2"><div class="ttname"><a href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a></div><div class="ttdeci">const int Dynamic</div><div class="ttdef"><b>Definition:</b> Constants.h:24</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition:</b> NumTraits.h:231</div></div>
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